Design and sequential jumping experimental validation of a musculoskeletal bipedal robot based on the spring-loaded inverted pendulum model

Design and sequential jumping experimental validation of a musculoskeletal bipedal robot based on the spring-loaded inverted pendulum model

To effectively control a robot’s motion, it is common to employ a simplified model that approximates the robot’s dynamics. Nevertheless, discrepancies between the actual mechanical properties of the robot and the simplified model can result in motion failures. To address this issue, this study intro...

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Bibliographic Details
Main Authors:	Yiqi Li, Yelin Jiang, Koh Hosoda
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2024-01-01
Series:	Frontiers in Robotics and AI
Subjects:	spring-loaded inverted pendulum model McKibben-type pneumatic artificial muscles musculoskeletal biped robot robot system design sequential jumping ground reaction force
Online Access:	https://www.frontiersin.org/articles/10.3389/frobt.2024.1296706/full

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